Advanced Surgical Robotics and Intelligent Control Lab
ANSUR LAB
기존의 비전 기반 매니퓰레이터 시스템은 고정된 카메라의 위치로 인해 시야가 좁거나 물체를 가릴 수 있는 한계점이 있습니다. 저희 연구실은 로봇 핸드에 센서와 제어기가 포함된 인터페이스를 구축함으로써 물체의 인식뿐만 아니라 인지와 제어까지도 할 수 있는 비전 기반 지능형 로봇 핸드를 연구하고 있습니다.
Robotic Palm
Soft Robotic Palm with Tunable Stiffness Using Dual-Layered Particle Jamming Mechanism
This project presents a novel robotic palm with a dual-layered structure designed to yield high surface conformity and controllable rigidity for enhanced grasping performance. It comprises a vacuum chamber for adjusting the stiffness of the palm via particle jamming and an air chamber for actively controlling the palm deformation. An auto-jamming control scheme that automatically solidifies the palm by sensing the internal pressure of the palm without any tactile sensors or visual feedback was also proposed.

Demonstration of multimodal grasping
The robotic palm allows multimodal grasping with a variety
of different grasping strategies. The palm provides a stable
base for a power grasp, providing high surface conformity to
any arbitrary shape of an object in contact and also high slip
resistance.
